Method, apparatus and system for projecting sports objects

ABSTRACT

Method, system, and apparatus are disclosed for projecting a sports object onto a playing surface based upon player position. The method and system includes monitoring player position and projecting the sports object onto a playing surface using a sports object projection apparatus based upon the monitored player position.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No. 61/553,432 filed on Oct. 31, 2011 which is hereby incorporated herein by reference.

TECHNICAL FIELD

This disclosure relates to sports object delivery systems, and more particularly to systems for dynamically projecting sports objects based upon monitored player position.

BACKGROUND

The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

Sports object projection systems are widely used to practice player technique and game strategies. Sports object projection systems are generally adapted for a particular sport, e.g., tennis, sports object, and softball. Sports object projection systems adapted to project tennis balls are commonly referred to as tennis ball machines, while softball and baseball projection systems are commonly referred to as pitching machines. Sports object projection systems are known to use counter rotating wheels to project a sports object toward a player. One such tennis ball machine is disclosed in U.S. Pat. No. 5,125,653.

Known sports object projection systems project a sports object toward a player at one or more predetermined positions, permitting the player to practice fielding or returning the sports object. Known systems permit users to control operating parameters such as speed, enabling a player to predefine a selected velocity for a sports object delivery. Other variables that sports object projection systems control include ball spin, e.g., topspin and backspin, and altitude angle. Some more recent advances enable a player to select a “random mode” where the sports object projection system projects a sports object onto random positions of the playing surface. Another known projection system permits a player to select a predetermined sequence of sports objects projections.

Known sports object projection systems, such as the projection system disclosed in U.S. Pat. No. 5,125,653, are insufficient for simulating real-world play such as a tennis match because they are unable to adapt projections based upon player position. Therefore, it would be advantageous for sports object projection systems to monitor player position and project sports objects based upon the monitored player position.

Additionally, known tennis ball and sports object projection machines can project sports objects inconsistently during operation reducing desirable playability. Known sports projection systems include some means of feeding a supply of tennis balls typically from a hopper, and a device that feeds the supply of balls to an opening for projection. During operation, a tennis ball drops down into the feeding device, the upstream tennis balls can become jammed as a result of an interlocking side to side action imposed by the stacked balls in the hopper, sometimes referred to as “bridging”. Known sports object projection machines have addressed this condition by incorporating arms or springs fixed to the rotating positioner that disrupt the “bridging” and provide a flow of balls to the positioner. This approach is problematic because the arms inconsistently free up the “bridged” balls resulting in an inconsistent flow of projected balls negatively affecting playability of the practice routine. Therefore, a need exists to improve the feeding mechanism into the projection apparatus.

SUMMARY

System, Apparatus and Method are disclosed for projecting a sports object based upon player position. The system and apparatus are configured to monitor player position and project a sports object based upon the monitored player position. In operation, the system receives user supplied control settings, monitors operating parameters of the sports object projector, determines a desired projection event based upon the user supplied control settings and monitored player position, determines desired operating parameters of the sports object projector for a desired projection event based upon the desired projection event, and executes the projection event after controlling the sports object projector to the desired operating parameters. The desired projection event may be defined by desired trajectory, desired sports object spin characteristics, and desired target position on the playing surface.

An improved sports object feeding mechanism is disclosed herein. The sports object feeding mechanism includes a timer for controlling a feed rate of sports objects into a positioner. A sensor is included to verify presence of a sports object within compartments of the feeder. The feeding mechanism is communicatively connected to a control system configured to control operation of the feeding mechanism using desired parameters of a projection event. The control system is configured to control the feeding mechanism to deposit a sports object within a chute for projection when parameters of the sports object projection event correspond to monitored operating states of the sports projection apparatus.

This summary is provided merely to introduce certain concepts and not to identify key or essential features of the claimed subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments will now be described, by way of example, with reference to the accompanying drawings, in which:

FIG. 1 depicts an exemplary sports object projection system, in accordance with the present disclosure;

FIG. 2 depicts a perspective view of the sports projection apparatus, in accordance with the present disclosure;

FIG. 3A depicts a cross sectional view of the sports projection apparatus including a projector, in accordance with the present disclosure;

FIG. 3B shows an additional embodiment of a sports object feeder, in accordance with the present disclosure;

FIG. 4 depicts a perspective view of the projector, in accordance with the present disclosure;

FIGS. 5A and 5B depict side views of the projector illustrating rotational changes of drive wheels, in accordance with the present disclosure;

FIG. 6 schematically shows an exemplary embodiment of a control system for the sports projection apparatus, in accordance with the present disclosure;

FIGS. 7A and 7B show an exploded view of an exemplary mobile device, in accordance with the present disclosure;

FIG. 8A shows a partial cross-sectional view of an exemplary transmitter unit, in accordance with the present disclosure;

FIG. 8B shows a partial exploded view of the exemplary transmitter unit, in accordance with the present disclosure;

FIGS. 9A and 9B depict exemplary playing surfaces including exemplary target zones, in accordance with the present disclosure;

FIG. 9C shows an exemplary playing surface associated with one or more types of shots that may correspond to target zones such as depicted in FIGS. 9A and 9B;

FIG. 10A is a table of experimentally gathered data used for operating the sports object projection system on the playing surface depicted in FIG. 9A, in accordance with the present disclosure;

FIG. 10B is a table of experimentally gathered data used for operating the sports object projection system on the playing surface depicted in FIG. 9B, in accordance with the present disclosure;

FIG. 11 shows a laser device and camera device for an embodiment of the transmitter unit, in accordance with the present disclosure; and

FIG. 12A shows a control scheme for operating the sports object projection system in a “challenge” mode, in accordance with the present disclosure;

FIG. 12B shows an additional control scheme for projecting a sports object using the sports projection apparatus, in accordance with the present disclosure; and

FIGS. 13A and 13B show exemplary user interfaces for controlling operation of the sports projection apparatus, in accordance with the present disclosure.

DETAILED DESCRIPTION

Referring now to the drawings, wherein the depictions are for the purpose of illustrating certain exemplary embodiments only and not for the purpose of limiting the same, FIG. 1 schematically shows an exemplary sports object projection system 100 including a sports projection apparatus 10 and an exemplary player positioning system 20 including a mobile device 22, and first and second transmitter units 24 and 26. As FIG. 1 shows, the apparatus 10 and player positioning system 20 are preferably implemented on a playing surface 30 which may include out-of-bounds areas. In one exemplary embodiment, the playing surface 30 is substantially geometrically equivalent to a standard tennis court. As described herein below, the disclosure herein can be applied to various embodiments and arrangements of the sports projection apparatus 10 and player positioning system 20 and is therefore not intended to be limited to the particular embodiments described herein. As will be apparent to one skilled in the art upon a careful reading of the teachings herein, various additional methods and systems may be used to determine player position and various additional systems may be used to project sports objects onto a playing surface and may, therefore, be readily applied to the teachings disclosed herein. For example, it is contemplated by this disclosure that any sports object projector capable of delivering a sports object to a selected playing surface area is sufficient for practicing the teachings of this disclosure including embodiments utilizing belts, a pneumatic cannon, or an arm to impart a propelling force to a sports object, although a preferred embodiment includes a pair of variable speed projection wheels as described herein to illustrate the teachings of this disclosure.

FIG. 2 shows a perspective view of the exemplary sports projection apparatus 10. The sports projection apparatus 10 preferably includes a hopper 12 and a mobile base 14 configured to house a sports object projector 50 and internal control circuitry. The hopper 12 is preferably detachable from the mobile base 14 by pressing a release button 13 or by actuation of another mechanical device such as a thumb screw. The hopper 12 preferably includes an integrated handle 18 is configured to accommodate storage of sports objects; however, the size and shape of the hopper 12 may be varied based upon a particular application and the particular sports object. The mobile base 14 preferably includes wheels 16 for convenient transport and an extendable handle via, e.g., telescopic members or an integrated handle 19. An opening 17 in the housing of the mobile base 14 for sports objects to project from the projector 50. A sensor 15 is preferably included on a forward facing portion of the sports projection apparatus 10. The sensor 15 is configured to detect people or objects at an unsafe proximity to the apparatus 10. The sensor 15 may be any known device such as a motion detector, light or sound-based distance detectors, or the like.

FIG. 3A shows a cross sectional view of the sports projection apparatus 10. As FIG. 3A shows, a feeder 36 is situated between the hopper 12 and a sports object chute 38 and is connected to a geared drive motor 37 via a shaft. In one embodiment, a detection switch 39 is configured to detect the presence of a sports object transported by the feeder 36. The feeder 36 is configured to rotate within the hopper and select a single sports object and transport it from the hopper to the sports object chute 38. The feeder 36 continues to rotate until the detection switch senses a sports object. Once a sports object is detected, the feeder stops rotating. When a sports object 2 is to be projected, the feeder will rotate, moving a sports object 2 to the sports object chute 38. The synchronization of the feeder 36 and the sensing of a sports object 2 by the detection switch 39 ensure a sports object 2 is correctly positioned when desired to be projected.

The projector 50 includes two counter-rotating drive wheels 40 and 46, two drive motors 42 and 43, and an elevation motor 44. A control system is embedded or stored on a printed circuit board 48 and communicatively connected to the drive motors 42 and 43 and the elevation motor 44 for operational control such as controlling position, wheel speed, and spin control. The motors 42, 43, and 44 are preferably of an electrical type utilizing a pulsed DC or a current-monitored AC for preferential control of a variable rate of speed. They are preferably of sufficient amperage and torque to insure a quick return rate of a rotation between projections, as well as a quick initial start-up during setup of the sports projection apparatus 10. The sports object chute 38 is configured to channel, i.e., guide, a sports object 2 between the drive wheels 40 and 46 for subsequent projection during operation. The elevation motor 44 is preferably a stepper or servo motor and utilizes a limit or home switch that provides feedback as to the exact position of the sports object chute 38 and drive wheels to accurately position the sports object 2 onto the playing court 30. As shown in FIG. 3A, the drive wheels 40 and 46, the sports object chute 38, and the elevation motor 44 are contained within the housing 54 of the mobile base 14. In this way, a direction of projection of the sports object during operation is not indicated to the player before the sports object 2 is projected from the projector 50.

FIG. 3B shows an additional embodiment of the feeder 36. As FIG. 3B shows, the feeder 36 includes a sports object deflector 35 and a detection sensor 39. The sports object deflector 35 is configured to direct a sports object from the hopper 12 into openings of the feeder 36, the openings configured, sized, and adapted to receive sports objects 2 for selective transportation to the chute 38. The detection sensor 39 is configured to detect a sports object 2 within the feeder 36. The detection sensor 39 may be any known device such as a motion detector, light or sound-based distance detectors, or the like. In one embodiment, the detection sensor 39 may be an electric switch triggered by physical contact with the sports object 2.

FIG. 4 shows the apparatus 10 having the housing 54 partially removed to illustrate a perspective view of the projector 50. The projector 50 is securely mounted to a mounting plate 56 of the mobile base 14. A second mounting surface 58 contained within the housing 54 is included and preferably configured to secure the projector 50 to the feeder 36. The mounting surface 58 preferably includes a drive motor 57 connected to the feeder 36 through a shaft thereby moving a sports object 2 into a holding position over the detection sensor 39. When the detection sensor 39 detects the sports object 2, the drive motor 57 is de-energized and subsequently re-energized to position the sports object 2 over the chute 38 and onto the drive wheels 40 and 46 and other operating parameters of the projector 50 into a desired state. A swivel drive motor 62 is configured to rotate the projector 50 substantially about a ‘z’ axis as shown in FIG. 4. Rotation of the projector 50 enables sports objects 2 to be projected at a selected azimuth angle enabling projection at varying, selectable target zones on the playing surface. The exemplary feeder 36 is configured to selectively rotate about the ‘z’ axis, depositing a sports object 2 in the chute 38 when rotated a predetermined angle. The feeder 36 is controllable by a control system via an electromechanical servo or second swivel motor.

As FIG. 4 shows, the drive wheel 40 is configured to rotate clockwise, while the drive wheel 46 is configured to rotate counterclockwise. The counter-rotating motion propels the sports objects 2 when disposed into the chute 38 by the feeder 36. The drive wheel 40 and the drive wheel 46 are used to project the sports object, control spin and speed of the sports object 2 by rotating in opposite directions at selectable speeds and being spaced apart in such a manner as to compress around the sports object 2, when fed in between the wheels 40 and 46 causing the sports object 2 to move between the wheels 40 and 46 and ultimately be projected from the front of the wheels 40 and 46. The wheels 40 and 46 are preferentially spaced more closely than the diameter of the sports object 2 to grasp therebetween as a result of compression peripheral contact surfaces of the wheels 40 and 46.

Each of the wheels 40 and 46 can include a rigid central hub assembly suitably having a flat cylindrical rim for supporting a body of suitable material having preferential friction properties such as an elastomeric material to grasp and project the sports object 2. The drive wheel 40 and the drive wheel 46 include a peripheral contact surface for contacting the sports object 2 during operation. Each such peripheral contact surface is formed with either a flat surface at the outer most portion of the body or with a peripheral groove providing a concave cross-section in said body extending circumstantially around the perimeter of the wheels 40 and 46 for receiving a sports object and for channeling the trajectory of the sports object when the wheels rotate in opposite directions of each other. In one embodiment, one wheel is configured with the concave groove, while the other wheel is configured with a flat peripheral contact surface. The sports object 2 will then be projected forward in a controllable fashion being projected outward from the wheels 40 and 46 with predetermined axis of spin, and azimuth and altitude angle causing predictable path flights of the sports object from the wheels 40 and 46 to a selectable point of destination such as a target zone on a playing surface.

The speed of the motors will be determined by the consumption of electrical energy necessary to achieve a predetermined ratio of a spin of the wheels 40 and 46. This rate of rotation will be controlled by the control system in such a manner as to insure the proper speed and spin as applied to the sports object for the required results of curve, drop, rise, or any other need of the projectile after it leaves the projector 50 toward its targeted area. Since each time the wheels are compressed around a sports object and the speed of the motors are decreased in a predictable manner, it is preferential that the wheels 40 and 46 and associated motors are allowed to come back to a selected speed for projectile accuracy. For this reason, a detection sensor 39 is included on the mounting surface 58 to prevent a sports object from projecting prematurely prior to either or both wheels 40 and 46 from reaching the selected speed required for a selected projection. The motors, since being constantly monitored for rate of spin, preferably will have electric energy transmitted in such a manner as to increase or decrease via braking the immediate torque and spin ratios immediately after each projection event. This will insure that the motors maintain their predetermined and programmed speed at all times with a minimum of down time between allowable projection events.

Trajectory and spin of the sports object is selected by controlling one or more operating parameters of the projector 50 including speed of the wheels 40 and 46 and orientation of the projector 50 along the ‘z’ axis. The speed of the respective wheels 40 and 46 via the motors can be adjusted by means of an electrical rheostatic control or potentiometer controlled by the control system. As described herein above, the swivel drive motor 62 is configured to rotate the projector 50 to a selected azimuth angle with respect to the ‘z’ axis. The control system is configured to control the swivel drive motor 62 to a selected azimuth angle during operation. In certain operating modes, the speed of the wheels 40 and 46 and the selected azimuth angle may be controlled to a predetermined range of operation, permitting operating tolerance and interjecting a desirable variance in performance.

FIGS. 5A and 5B depict side views of the projector illustrating rotational changes of drive wheels. FIG. 5A shows the projector in a first rotational position and FIG. 5B shows the projector in a second rotational position. Rotational position of the drive wheels is changed to control an altitude angle of the sports object. In one embodiment, actuation of the elevation motor 44 about a slot on plate is mechanically translated to rotational motion of the drive wheels. The altitude angle of the sports objects object is controlled by the elevation motor 44 which raises or lowers the drive motors and sports object chute. The sports object spin may be controlled by varying the speeds of the wheels 40 and 46. When the speeds of the wheels 40 and 46 are substantially similar, the sports object is projected in a substantially linear trajectory without top or backspin. When the speed of the drive wheel 40 is less than the speed of the drive wheel 46, the sports object has a tendency to rise or curve upwardly because of the backspin imparted to the sports object. When the speed of the drive wheel 40 is greater than the speed of the drive wheel 46, the sports object has a tendency to drop or curve downwardly because of the topspin imparted to the sports object.

In operation, the sports object projection system 100 may register position of the motors to a home position upon initial startup. The positional motors can be stepper motors or servomotors. When used with home switches 45 the motors can accurately and repeatedly position the ball launching mechanisms. The motors must be of appropriate size to position the mechanisms in a timely manner.

FIG. 6 schematically shows an exemplary embodiment of the control system 200 for controlling operation of the apparatus 10. The control system 200 includes a computer bus 202 that couples one or more processors 204, an interface controller 205, memory 206 preferably having software 208, a storage device 210, a power source 212, preferably a display controller 214 for interfacing between one or more displays 216, such as flexible organic light emitting diode (OLED) electronic displays, an input/output (I/O) controller 218, I/O devices 220, one or more communications interface adapters 222, and one or more antennas 224. The antennas 224 and communication interface adapters 222 may be configured to communicate with a network 226 such as the Internet enabling communication with a webserver 228 or other information provider. In this way the control system 200 may update firmware and preprogrammed routines as described herein. The sensor 15 is preferably operatively connected to the control system 200 to detect objects proximately located to the apparatus 10. The control system 200 may control an operating state of the projector 50 or disable initiation of project events based upon feedback from the sensor 15. Automatic disablement may be triggered when objects are detected with a predetermined distance from the apparatus, such as 10 feet. One skilled in the art will recognize that embodiments of the control system 200 can include additional components such as a high speed clock, analog to digital and digital to analog circuitry, and buffer circuitry and devices for appropriate signal conditioning.

The processor 204 is preferably a general-purpose microprocessor or central processing unit and has a set of control algorithms, comprising resident program instructions and calibrations stored in the memory 206 and executed to provide the desired functions. As one skilled in the art will recognize, the processor 204 executes functions in accordance with any one of a number of operating systems including proprietary and open source system solutions. In one embodiment, an application program interface (API) is preferably executed by the operating system for computer applications to make requests of the operating system or other computer applications. The description of the processor 204 is meant to be illustrative, and not restrictive to the disclosure, and those skilled in the art will appreciate that the disclosure may also be implemented on platforms and operating systems other than those mentioned.

The storage device 210 is configured to store, access, and modify a database, and is preferably configured to store, access, and modify structured or unstructured databases for data including, for example, relational data, tabular data, audio/video data, and graphical data. The storage device 210 may be any disk based or solid state memory device for storing data including a non-transitory computer readable medium configured to store instructions translatable by the processor 204. In one embodiment, the control system 200 is configured to operate the display 216. The interface controller 205 communicates with the I/O controller 218 to determine user inputs via one or more of the I/O devices 220 such as a keyboard, a mouse, and/or a microphone.

The power source 212 may be any known electrical energy storage device such as a battery, or any known electrical energy generative device such as solar panels. Preferably, the power source 212 is electrically connectable to a standard 110-volt AC receptacle and configured to electrically communicate electrical energy preferably through a transformer for use or storage thereon.

The control system 200 preferably includes one or more communications interface adapters 222 for communicating with external or remote devices such as the mobile device 22 and transmitter units 24 and 26. The communications interface adapters 222 may be any known device adapted for wireless or wired communication and preferably configured for receiving and sending information communicated via one or more antennas 130. In one embodiment, the communications interface adapter 222 is configured to communicate with the player positioning system 20 via a transceiver, or a separate transmitter and a separate receiver.

In various embodiments, the control system 200 may include dedicated hardware circuits or structures, or a combination of dedicated hardware and associated software, to support position determination. One such embodiment includes one or more on-board positioning devices configured to determine player and/or sports object position communicatively connected to the control system 200. The positioning devices may include any known transmitters and sensors configured to monitor signal reflections from an object such as a player in the sensor field-of-view for subsequent player and/or sports object position determination. In one embodiment, stereopsis sensors may be used with system position and orientation information to determine player and/or sports object position. In one embodiment, visual camera based information may be utilized to determine player location.

In various embodiments of a sports projection apparatus a sports object may become wedged or non-preferentially engaged to the feeder 36 or between the feeder and the hopper 12. In one embodiment, during operation, the control system 200 monitors placement of the sports objects within the feeder 36 using the detection sensor 39 and electrical current within the geared drive motor 37. If the monitored electrical current of the motor 37 is greater than a predetermined threshold, e.g., 3 amps, then the control system 200 controls the motor 37 to reverse operation for a predetermined duration, e.g., 100 milliseconds. If no sports object is detected within the feeder 36 in a preset number of cycles or preset time duration, the control system 200 may determine that the hopper 12 is devoid of sports objects.

FIGS. 7A and 7B each show an exploded view of an exemplary mobile device 22. The mobile device 22 includes a housing 80 containing a control circuit board 82, an electrical energy storage device 84, and one or more input switch members such as a depressible or touch responsive pushbutton 86. The pushbutton 86 may be any suitable pushbutton, which generates an electrical signal through a contact, switch, etc., to the control circuit board 82 when it is touched, depressed or otherwise activated. The pushbutton 86 may be at least partially raised or extending beyond the outer surface of the housing or may be mounted in a recess in the housing to minimize the potential for inadvertent activation. The mobile device 22 can have an output element, such as an optical display or other visual indicator which displays control functions selected or selectable by the user through the input switch member. The mobile device 22 preferably includes a fastener 88 configured to removably secure to clothing of a player. The fastener may be any known type such as a clip. Alternatively, one of more tabs may be used, for example, to facilitate sewing the fob to an article of clothing.

The control circuit board 82 of the mobile device 22 is configured to receive inputs from one or more antennas and one or more input switch members. A transceiver 90, or a separate transmitter and a separate receiver, is connected to the control circuit board 82 for transmitting or receiving signals to and from the sports projecting apparatus 10. Additional sensors such as an ultrasonic receiver 92 may be connected to the control circuit board 82 for receiving positioning signals from one or more transmitter units. Preferably, the control circuit board 82 includes circuitry and/or logic units such as a microprocessor 83 configured for modulating and demodulating received information. Preferably the microprocessor 83 is configured to determine signal duration, i.e., a time period required to receive a transmitted signal, and other information associated with signal transmissions from the transmitters. The microprocessor 83 operates is preferably at least at 16 MHz permitting computational resolutions of 0.0625 milliseconds. The microprocessor 83 may be configured to execute various computer programs (e.g., software, firmware, or other code) such as application programs and system programs to provide computing and processing operations for the mobile device 22.

A display device may be connected to the control circuit board 82 by an internal bus system. The display device may be configured to display a user interface system configured to display user controls, selections, and other operational information. The mobile device 22 preferably includes a portable electrical energy storage device 84 such as a battery which can be preferably removed from the housing 80 through a replaceable cover mounted on the housing. In one embodiment, the battery may be recharged using energy scavenging methods such as from mechanical energy derived from mechanical vibrations or motion of the mobile device 22. The mobile device 22 may additionally include any digital and/or analog circuit elements, comprising discrete and/or solid state components, suitable for use with the embodiments disclosed herein.

FIG. 8A shows a partial cross sectional view of an exemplary transmitter unit 24 used in the exemplary player positioning system 20. The transmitter unit 24 preferably includes a rigid housing structure 92 configured to protect and contain internal electrical circuitry on a printed circuit board 94 and an electrical power source. The rigid housing structure 92 may include molded polymer material secured to a sheet metal chassis in one embodiment. The transmitter unit 24 is preferably portable allowing convenient setup and removal from a playing surface. The transmitter unit 24 includes a wireless receiver configured to receive communications from the control system 200. Alternatively, the wireless receiver may be a transceiver configured to communicate between the mobile device 22 and control system 200. The transmitter unit 24 is configured to direct a transmitter device 96 toward a playing surface. The transmitter device 96 may be any known type configured to transmit positional information wirelessly such as via sound-based signals, electromagnetic radio waves, and light-based signals. In one embodiment, the transmitter device is an ultrasonic transmitter, i.e., ultrasonic speaker configured to transmit in a range above the capability of the human ear, e.g., 25 to 45 KHz. One or more transmitter devices 96 may be disposed within the transmitter unit 24 for increased accuracy, preferably transmitting at distinct frequencies for minimal interference.

FIG. 8B shows a partial exploded view of an exemplary transmitter unit including four transmitter devices 96 directable toward a playing surface. The exemplary transmitter unit includes a wireless radio 98 and a processor 99.

FIGS. 9A and 9B depict exemplary playing surfaces 30 including exemplary target zones, e.g., “zone A”. In one embodiment, each zone is associated with a range of wheel speed operation and range of azimuth angles associated with an orientation of the projector 50. For example, zone B shown in FIG. A may be associated with a zero-degree azimuth angle, a speed of between 3000 and 4000 rpm for the drive wheel 40 and a speed of between 3250 and 4250 rpm for the drive wheel 46. Multiple ranges may also be associated with each target zone. For example, the elevation wheel may be associated with operating ranges of between 3250-3500 rpm and 3750-4000 rpm for zone B. In one embodiment, one or more predetermined operating parameters are calibrated for each target zone. For example, a first predetermined operating parameter for zone B may include a zero-degree azimuth angle, 3250 rpm for the drive wheel 40, and 3500 rpm for the elevation wheel, while a second operating parameter for zone B may include a +1-degree azimuth angle, 3500 rpm for the drive wheel 40, and 3250 rpm for the elevation wheel. As one skilled in the art will readily recognize upon a close reading of the teachings herein, the particular operating range of the wheels 40 and 46 for a particular zone depends upon the particular hardware characteristics included in the projector 50 and the particular dimensions of the zones of a playing surface.

Alternatively or additionally, predetermined wheel speed increments, e.g., increments of 100 rpm, for each wheel may be associated with one or more permitted wheel speeds for the corresponding wheel and corresponding target zone. For example, a wheel speed of ‘X’ for wheel 40 targeting zone X, may be associated with wheel speeds of ‘A’, ‘B’, and ‘C’ for wheel 46 are while a wheel speed of ‘Y’ for wheel 40 is associated with wheel speeds of ‘B’, ‘C’, and ‘D’ for wheel 46. Wheel speeds and azimuth angles associated with each zone are preferably calibrated for a particular hardware application of the projector 50 and sports object characteristics such as surface friction properties, wheel geometry, and motor torque performance.

Player position upon a defined playing surface or coordinate system may be determined using one of multiple techniques and positioning systems including techniques wherein player position is determined by the control system 200, by an external device such as the mobile device 22, and/or by the transmitting unit 24. Player position may be communicated to the control system 200 upon determination, at various intervals, upon occurrence of trigger events, upon requests, or the like. For example, the mobile device 22 can determine location information at the request of one or more devices such as the control system 200 for subsequent communication.

The player positioning system 20 may incorporate any one of a number of object tracking techniques adapted for determining player position. In general, object tracking systems can be broadly categorized as active systems, i.e., systems whereby the object incorporates a transmitter, and passive systems whereby a tracked object does not include a transmitter. Although both active and passive object tracking systems may be utilized to determine player position, active object tracking techniques are a preferred approach to tracking a player upon a playing surface or within a define coordinate system.

One such player positioning system utilizes the mobile device 22 and one or more transmitter units 24 preferably positioned proximate to a playing surface as substantially illustrated in FIG. 9A. As FIG. 9A shows, the first transmitter 24 is positioned proximate to a first corner of a playing surface and the second transmitter 26 is positioned proximate to a second corner of a playing surface preferably directly adjacent net poles in one exemplary playing surface to project into the player's side of the playing surface. The mobile device 22 is worn by a player.

In operation, the mobile device 22 determines player position, based upon positioning information received by a first and second transmitting unit 24. The first and second transmitting units 24 transmit positional information receivable by the mobile device 22. The positional information may be a known predetermined signal permitting the mobile device 22 to determine travel characteristics of the transmitted signal such as travel time duration. Calculating a travel-time-duration for a signal sent from the first transmitting unit and calculating a travel-time-duration for a signal sent from the second transmitting unit enables the mobile device 22 to determine distance to each of the first and second transmitting units 24. Using the determined distance from each of the first and second transmitting units 24 the mobile device 22 may then determine position of the mobile device 22 with respect to a coordinate system or playing surface. Alternatively, the travel-time-duration information may be communicated to the control system 200 for player position calculations.

In one embodiment, the control system 200 requests player position to the mobile device 22 and first and second transmitting units 24. Upon receiving the position request, the first transmitting unit 24 immediately transmits a known predetermined signal to the mobile device 22. After a predetermined delay, e.g., a 125-millisecond delay, the second transmitting unit 26 transmits a known predetermined signal to the mobile device 22. Concurrently, to the first transmitting unit 24 receiving the position request from the control system 200, the mobile device 22 receives the position request and begins a timer to determine the travel-time-duration for signals to be received from the first and second transmitting units 24 and 26. The travel-time-durations of the two signals are preferably used to compute a zonal position of a player (wearing the mobile device 22) on the playing surface. This position is subsequently transmitted to the control system 200.

FIG. 9C shows an exemplary playing surface associated with one or more types of shoots that may correspond to different zones such as depicted in FIGS. 9A and 9B.

FIG. 10A shows a table depicting experimentally gathered data used for operating the sports object projection system 100 on a playing surface depicted in FIG. 9A utilizing zones. The player positioning system 20 utilizes two transmitting units. The data was collected using an embodiment of the positioning system 20 wherein the control system 200 utilizes radio communications and the transmitting units 24 and 26 utilize ultrasonic transmitter devices. In this configuration, the signal from the control system 200 travels at the speed of light and the signals from the transmitting units 24 and 26 each travel at the speed of sound.

A second technique for determining player position utilizes a single transmitting unit 24 as shown in FIG. 9B. In this embodiment, the transmitting unit 24 transmits acoustic signals and receives reflected sound waves using a sensor. In this embodiment, the transmitter device is preferably mounted to a mechanism controlled by a stepper motor that is capable of rotating the sensor at least 90-degrees. The travel-time-duration representing travel-time from the initial signal transmission to reception of the reflected sound wave is used to determine the distance of the player with respect to the transmitting unit. As the sensor is rotated, a travel-time-duration of the transmitted signal can be determined permitting. A zone associated with the player may be determined by relating the angular position of the sensor and the travel-time-duration.

FIG. 10B shows a table depicting experimentally gathered data used for operating the sports object projection system 100 on a playing surface depicted in FIG. 9B utilizing zones. The player positioning system 20 utilizes a single transmitting unit as described herein above. As shown in FIG. 10B, rotational positions in degrees and associated the travel-time durations for the reflected sound waves are given for the exemplary playing surface represented in FIG. 9B.

FIG. 11 shows a laser device 150 and camera device 152, e.g., a CCD array, that may be incorporated into a transmitting unit 24 such as shown in FIG. 9B. The laser device 150 and camera device 152 may be used to perform a third technique for determining player position. The laser device 150 and camera device 152 may be incorporated in the first transmitting unit 24. The laser device is preferably mounted to a mechanism controlled by a stepper motor that is capable of rotating the laser device and camera device 90-degrees. By using the stepper motor, accurate angular position of the laser and camera devices can be determined. As the laser device 150 and camera device 152 are rotated, zones associated with the player may be determined by relating the angular position of the camera device and the distance of the player. In operation, a laser beam is projected onto the playing surface. The camera device 152 receives reflected laser light, illuminating different pixels when the object is in motion. Using known triangulation methods based upon pixel illumination, a distance of an object reflecting the light may be determined. The zone associated with the player position may be determined using the angular rotation and the determined distance.

FIG. 12 shows a control scheme 300 for operating the sports object projection system 100. Although the control scheme 300 is shown as discrete elements, such an illustration is for ease of description and it should be recognized that the functions performed by the control scheme 300 may be combined in one or more devices, e.g., implemented in software, hardware, and/or application-specific integrated circuitry (ASIC). For example, the control scheme 300 may be implemented in the control system 200.

The sports object projection system 100 may be operated in one of a multiple, selectable operating modes, each operating mode configured to control projection of the sports objects. In operation, the user selects an operating mode 302, which may be selected using controls on the mobile device 22 as described hereinabove or via an I/O device on the apparatus 10. In one embodiment of the control scheme 300 the user may select a “random” operating mode 304, a “challenge” operating mode 306, or one of a plurality of “predetermined sequence” operating modes 308.

The “random” operating mode 304 includes controlling the sports object projection system 100 to project sports objects onto the playing surface at randomly selected positions or zones. The “predetermined” operating mode 308 includes controlling the sports object projection system 100 to project sports objects onto the playing surface at a preprogrammed location or zone, or project sports objects at predetermined sequences of projections. For example, targeting a particular zone may beneficially permit a player to work on a forehand return, while projection at another particular zone may permit a player to work on a backhand return. In one embodiment, operating modes may be preprogrammed to simulate a series of projections associated with game-play. For example, a preprogrammed projection to Zone A, Zone B, Zone C, and then Zone D may be selected by a user. As one skilled in the art will readily recognize, any zone or series of zones may be preprogrammed for selection by a user. Additionally or alternatively, different spin shots may be included in the predetermined operating mode such as backspin, topspin, high-altitude, slow, and fast projections.

The “challenge” mode 306 is intended to simulate game-play of another human challenger by adapting projections based upon player position. The challenge mode 306 includes monitoring player position 310, selecting a projection event 312 based upon the monitored player position, and projecting the sports object 314 based upon the selected projection event. The projection event may include trajectory, sports object spin characteristics, and a targeted zone. Projection events selected based upon player position may include targeting a zone associated with the player, adjacent zones, or zones associated with a maximum distance from the player. Targeted zones may also include predetermined zones shots. For example, if the player is occupying zone A, then the apparatus may target one of zone B, zone C, and zone D. Player movement may also be incorporated into shot selection. For example, if the player is known to be moving in one direction, then the control scheme 300 may select a zone counter to the player's movement.

In one embodiment of the challenge mode, there may be five general predetermined shots. Each predetermined shot may be associated with a selected level of play, e.g., beginner, intermediate, and expert. A first shot is a baseline (e.g., B1-B5). As shown in FIG. 9C, there are 5 baseline shots starting with B1 located to the far left, B3 located at the center, and B5 located at far right, as viewed from the ball machine across the playing surface. The baseline shot is the deepest court shot and may include top spin. A second shot is a slice shot. There are two slice shots, SL1 and SL2, each located to the right and left of the centerline and between the baseline and service line, as shown in FIG. 9C, in accordance with an embodiment of the disclosure. The slice shot includes back spin. A third shot is a short ball. There are two short ball shots, SB1 and SB2. As shown in FIG. 9C, each shot is located to the right and left of the centerline and between the service line and the net. The short ball shot includes top spin. A fourth shot is a volley shot. There are 3 volley shots, V1, V2 and V3. The volley shot is based on the baseline shot with V1 left of the center, V2 positioned at the center, and V3 to the right of center. This shot may be delivered when the player is close to the net, and/or based upon the selected level of play. A fifth shot is a lob shot. The Lob shot is designed to move the player away from the net, and therefore may be associated with zones proximate to the net. The lob shot is a high altitude slow shot with no spin. As described herein above, each of the shots may be delivered in part or whole based upon player position.

In one embodiment of the control scheme 300, different challenge modes may be selectable by the user, each associated with a various degree of difficulty. For example, a “level one” challenge mode may be intended for an entry-level player, while a higher level challenge mode may be intended for an expert player. Difficulty may vary between challenge levels by varying sports object speeds, e.g., easier challenge mode levels are associated with slower speeds than more difficult challenge mode levels such as the expert level. Spin on the sports object may vary between levels. Targeted zones may vary between levels as well. For example, the entry-level challenge mode may limit shoots to zones proximately located to the player, or zones immediately adjacent to the player, while more difficult challenge mode levels may open potential targeted zones to any zone on the playing surface. Sports object trajectories and time between shots may be other variables that may be changed during the course of play while operating in a challenge mode.

In one embodiment of the challenge mode, shot sequences listed on the following table may be executed based on the zone position of the player:

Zone Shot Sequence Options 1 B1, B2, B3, SL1, SB1 2 B1, B2, B3, B4, B5, SL1, SL2, SB1, SB2 3 B3, B4, B5, SL2, SB2 4 SB1, V1, V2, L 5 SB1, SB2, V1, V2, V3, L 6 SB2, V2, V3, L

For example, with reference to FIG. 9A, a shot associated with zone 1 may be executed when a player is associated with zone 1. In one embodiment, any shot associated with zone 1 may be selected by the control scheme for projection onto the playing surface.

In one embodiment of the control scheme 300 the user may select a “random” operating mode 304, a “challenge” operating mode 306, or one of a plurality of “predetermined sequence” operating modes 308.

FIG. 12B shows a control scheme 350 for projecting a sports object 2 using the apparatus 10. Sports objects are projected onto the playing surface according to the user supplied settings, pre-set data, and sports object characteristics. The control system 200 monitors elapsed time between shots and speed of the counter-rotating drive wheels 40 and 46 during operation 352. The control system 200 inputs user supplied selections 354. User supplied settings may include manual shot type selection, operating mode, and operating level, which affect parameters of the next sports object projection. During operation, the control system 200 defines operating parameters of a sports objection projection 356. That is, the control system 200 defines the operating states of internal components corresponding to requirements to project a sports object in a desired manner according to user preferences. In one embodiment, sports object parameters can include one or more of the following: respective rotational speeds of the counter-rotating drive wheels 40 and 46, angle of trajectory, rotational position of the projector 50, speed, spin, and elapsed time between shots. Sports objects 2 are positioned within the feeder 36 before a sports object projection 358. Presence of a sports object 2 within an opening or compartment of the feeder 36 are confirmed by sensor 360. The sports objects are selectively dropped into the chute 38 when operating parameters of the apparatus 10 are within the defined parameter of the next shot 362.

FIG. 13A shows a first exemplary user interface 400 for controlling operation of the sports projection apparatus 10. The user interface 400 may be incorporated on the mobile device 22 and/or the sports projection apparatus 10. The exemplary user interface 400 is configured to enable a user to control operation of the sports projection apparatus 10 by selecting various control buttons including selecting operating mode and level, ball spin, feed frequency, sweep angle, and one of a plurality of pre-programmed operating routines. In one embodiment, a plurality of indicators 404 may be included associated with various operating functions such as operating mode, operating level, ball spin, feed, operating state, shot type, pre-programmed operating routine, and a playability motion such as feed or sweep.

FIG. 13B shows a second exemplary user interface 500 for implementation on the sports projection apparatus 10. Similarly to the first exemplary user interface 400, the second exemplary user interface 500 is configured to control operation of the sports projection apparatus including selecting operating mode and level, ball spin, feed frequency, sweep angle, and one of a plurality of pre-programmed operating routines. As FIG. 13B shows, the exemplary user interface 500 may include a display device 502 configured to selectively show operational information such as operating mode, power source, power level, and operating level. In one embodiment, a plurality of indicators 504 may be included associated with various operating functions such as a user-selected operating function. In one embodiment, a user may select an operating function using a rotary dial 506 configured for rotational and lateral user inputs. For example, in one embodiment a user rotates the dial to a desired control function, physically pushes in the rotary dial 506, thereby selecting an option or supplying a control input. When a selection is made, if voice command is enabled, the selection will be annunciated. A run or selection button 508 may be included to selectively input user commands such as selection of a pre-programmed operating routine. An input/output communications port 510 may be included to perform various functions described herein above including uploading pre-programmed operating routines, perform diagnostic routines, and upload firmware updates, for example. In one embodiment, the pre-programmed routines may be downloaded from a webserver for subsequent upload to the sports projection apparatus 10. The operating state of the sports projection apparatus 10 may be controlled between an ON operating state and an OFF operating state via an electrical switch or button 512.

In one embodiment, the first and second exemplary user interfaces 400 and 500 may be comprised of physical control buttons such as electrical input switches and/or implemented as virtual control buttons displayed on an organic LED display type, although it is contemplated by this disclosure that one many display device types may be used to show operational information and control operation such as a touch-screen.

Selection of a pre-programmed routine controls operation of the apparatus to execute a series of choreographed shots that provide various practice scenarios combing a plurality of shots. These routines are stored within the memory of the onboard computer although they may be stored on a USB memory device which can be selected and downloaded from a webserver.

The user may select manual operation controlling the apparatus 10 to execute a series of single shot selections that allow the user to practice returning a specific ball shot. When combined with Motion control such as feed and sweep, they can be configured to provide practice routines of a specific shot type. The shot routines are pre-programmed with elevation, ball speed, and ball spin settings based on the operating level selection to deliver a ball shot with the desired court position and ball characteristics. Once a shot routine is selected, certain motion controls are allowed or not allowed. For instance, if the user selects a lob shot, the sweep motion control is not allowed, due to the nature of a lob shot type.

The operating level selection allows the user to select a setting based on the user's level of play. Beginner, Intermediate, or Advanced are provided although additional levels are contemplated by this disclosure. These settings impact the type of ball shots and playability of the pre-programmed routines.

Motion control settings allow a user to define a feed rate of the sports object and a sweep or side-to-side positioning of the sports object. In one embodiment, when a motion control is selected, a screen may be displayed on the LED display allowing the user to select a specific value of the selection. For example, the feed parameter may include intermittent frequency selections of 1, 2, 3, 4, or 5, second selections. The sweep parameter may include a center or off-center selections such as selections associated with degrees off-center.

A voice control setting may allow the user to enable or disable voice annunciation. Increment and decrement selections allow a user to change the values of the motion or ball control parameters and are selectable when the motion or ball control options have been selected.

A ball control settings allow the user to change the elevation, speed or spin pre-programmed parameters of the ball. As described herein above, each ball shot may have a set of pre-programmed values based on the operation level setting. This feature allows the user to tweak the ball shot performance or make adjustments based on ball quality. It has been noted during the development of the apparatus that as balls age, the shot performance and behavior change. For example, the position of a ball on the court changes based on the age of a used ball and the altitude with which the system is used. Tennis balls are pressurized and behavior differently when used at sea level as compared to a high altitude environment, e.g., Denver.

In one embodiment, player position used by a first apparatus may be utilized by a second apparatus to enable two players, proximally removed from one another, to play each other. Using object tracking methods known in the art, a player's return serve may be determined and utilized to determine sports object projection events. Player position and sports object position as returned by the players may be communicated using the network 226 and a webserver 228. It is contemplated by this disclosure that the opposing player position may be communicated to the other player via visual, audio, and/or physical means such as by a moving apparatus configured to move to a position corresponding to the received player position. In this way, an apparatus may visually represent the proximally removed player's position.

The disclosure has described certain preferred embodiments and modifications thereto. Further modifications and alterations may occur to others upon reading and understanding the specification. Therefore, it is intended that the disclosure not be limited to the particular embodiment(s) disclosed as the best mode contemplated for carrying out this disclosure, but that the disclosure will include all embodiments falling within the scope of the appended claims. 

1. A system for projecting a sports object onto a playing surface, the system comprising: a first and second transmitter device, each configured to transmit signals toward the playing surface from a stationary position; a mobile device configured to receive signals from the first and second transmitter devices while in use by a player; and a sports projection apparatus comprising: a control system configured to determine a player position based upon a time-component supplied by the mobile device and the transmitted signals from the first and second transmitter device, and a sports object projector configured to project a sports object based upon the determined player position.
 2. The system of claim 1, wherein the sports object projector comprises: a feeder configured to selectively drop a sports object into a chute; a pair of counter-rotating wheels, each propelled by a separate controllable motor configured to selectively control each wheel to a selectable speed; an elevation motor configured to selectively raise and lower the sports object projector for controlling an altitude angle of a projected sports object; and a swivel drive motor configured to rotate the ports object projector substantially about an axis in a plane parallel to the playing surface.
 3. The system of claim 2, further comprising: a hopper configured to receive a plurality of sports objects; a sensor positioned within compartments of the feeder, the compartments configured to receive sports objects, the sensor configured to detect presence of a sports object within the compartment; and a drive motor configured to selectively rotate the feeder causing a sports object within the feeder to drop into the chute.
 4. The system of claim 3, wherein the control system is further configured to selectively rotate the feeder to align a compartment of the feeder having a detected sports object to the chute.
 5. The system of claim 3, wherein the control system is further configured to selectively rotate the feeder based upon monitored electrical energy drawn by the drive motor.
 6. The system of claim 1, wherein the control system further comprises: one or more processors for executing programs; memory configured to store one or more programs to be executed by the one or more processors; the one or more programs comprising instructions for: monitoring operating parameters of the sports object projector receiving user supplied control settings; determining desired operating parameters of the sports object projector for a desired projection event based upon the user supplied control settings and the determined player position; and executing the projection event after controlling the sports object projector to the desired operating parameters.
 7. The system of claim 6, wherein the control system further includes a user interface configured to accept user supplied operating settings.
 8. The system of claim 6, wherein the control system further includes a network adapted configured to communicatively connect to a network.
 9. The system of claim 6, wherein the desired projection event is defined by desired trajectory, desired sports object spin characteristics, and desired target position on the playing surface.
 10. The system of claim 9, wherein the user supplied control settings include selections of operating instructions for executing projection events.
 11. The system of claim 10, wherein the operating instructions for executing projection events are associated with a selection of player skill level.
 12. The system of claim 9, wherein the playing surface comprises a plurality of target zones wherein the desired target position of the desired projection event is defined by one of the plurality of target zones comprising the playing surface.
 13. A method for projecting a sports object onto a playing surface, the method comprising: monitoring player position on the playing surface; and projecting the sports object onto the playing surface based upon the monitored player position.
 14. The method of claim 13, further comprising: providing audio feedback based on player position.
 15. The method of claim 13, wherein the projecting the sports object is executed without indicating a trajectory of the sports object to the player prior to the projecting the sports object.
 16. The method of claim 13, wherein the player position is monitored with respect to a predefined playing area.
 17. The method of claim 13, wherein the player position is monitored with respect to a predefined coordinate system and wherein the sports object is projected using the predefined coordinate system.
 18. The method of claim 13, further comprising: monitoring operating parameters of the sports object projector; receiving user supplied control settings; determining desired operating parameters of the sports object projector for a desired projection event based upon the user supplied control settings and the determined player position; controlling the sports object projector to the desired operating parameters; and executing the desired projection event.
 19. The method of claim 18, wherein the desired projection event is defined by desired trajectory, desired sports object spin characteristics, and desired target position on the playing surface.
 20. The method of claim 13, wherein the player position is monitored using information provided by a mobile device configured to receive positional signals from at least one stationary transmitting device.
 21. A nontransitory, computer-readable medium encoded with a computer program for controlling a sports projection apparatus, the computer program comprising computer-executable instructions for carrying out the steps of claim
 13. 22. A method for projecting a sports object onto a playing surface, the method comprising: receiving user supplied control settings associated with operation of a sports object projector apparatus; monitoring operating parameters of the sports object projector apparatus; monitoring player position on the playing surface; determining a desired projection event based upon the user supplied control settings and the monitored player position; determining a set of desired operating parameters of the sports object projector apparatus based upon the desired projection event; controlling the sports object projector apparatus to the desired operating parameters; and executing the projection event.
 23. The method of claim 22, wherein the desired projection event is defined by desired trajectory, desired sports object spin characteristics, and desired target position on the playing surface.
 24. The method of claim 23, wherein the target position on the playing surface is defined by at least one of a Cartesian coordinate system and a polar coordinate system.
 25. The method of claim 22, further comprising: receiving altitude information associated with position of the sports object projector apparatus; and determining the set of desired operating parameters of the sports object projector apparatus based upon the altitude information.
 26. The method of claim 22, further comprising: queuing a plurality of sports objects into a plurality of compartments; detecting presence of a sports object with each compartment of the plurality of compartments using a sensor; and controlling operating of the sports object projection apparatus based upon the detected presence of the sports objects.
 27. The method of claim 22, wherein the user settings include an option associated with frictional characteristics of the sports objects. 